Various following patterns

Based on the control law as described above, a mobile robot is able to follow a walking human. It is possible for a robot to follow a human from behind as well as from other positions. As an example, a robot is able to move alongside a human. Such following patterns can be achieved using the proposed control method. A fixed angle $\theta_{sh}$ between the virtual springs and the human's walking direction can be set to various patterns (Fig.9(a)).

[Change in the following pattern] (a)

[Tracking evaluation with various $\theta_{sh}$] (b)

図 9: Various following patterns

 

Fig.9(b) shows the results of computer simulation with various following patterns of the mobile robot. In this computer simulation, the target human walked in a straight line. The values of $¥theta_{sh}$ were set to -90, -45, -25, 25, 45 and 90 degrees in this simulation. The results clarified that the human following pattern changed based on $¥theta_{sh}$. It is possible to avoid local obstacles when the active changing of this following pattern and the obstacle recognition by ISpace are combined.